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<div class="title">transformation_estimation_lm.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/transformation_estimation.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/warp_point_rigid.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/distances.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> MatScalar = <span class="keywordtype">float</span>&gt;</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">   59</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">TransformationEstimationLM</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt;PointSource, PointTarget, MatScalar&gt;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::Ptr PointCloudSourcePtr;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::ConstPtr PointCloudSourceConstPtr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">typedef</span> PointIndices::Ptr PointIndicesPtr;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">typedef</span> PointIndices::ConstPtr PointIndicesConstPtr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;TransformationEstimationLM&lt;PointSource, PointTarget, MatScalar&gt; &gt; Ptr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const TransformationEstimationLM&lt;PointSource, PointTarget, MatScalar&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keyword">typedef</span> Eigen::Matrix&lt;MatScalar, Eigen::Dynamic, 1&gt; VectorX;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">typedef</span> Eigen::Matrix&lt;MatScalar, 4, 1&gt; Vector4;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation&lt;PointSource, PointTarget, MatScalar&gt;::Matrix4</a> Matrix4;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a03a62429f0a21c65f30142da4c0b9c20">TransformationEstimationLM</a> ();</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a4e6add987a9fbab7f31d392ea812e3f4">   84</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a4e6add987a9fbab7f31d392ea812e3f4">TransformationEstimationLM</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">TransformationEstimationLM</a> &amp;src) : </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#abef97e83c0e0e9b1358d558f5a56d1f7">tmp_src_</a> (src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#abef97e83c0e0e9b1358d558f5a56d1f7">tmp_src_</a>), </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af17eaaec23033dc0b94c22275c52164f">tmp_tgt_</a> (src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af17eaaec23033dc0b94c22275c52164f">tmp_tgt_</a>), </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af75bf268c9136933175e7e7a09ee33ed">tmp_idx_src_</a> (src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af75bf268c9136933175e7e7a09ee33ed">tmp_idx_src_</a>), </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#ac6ff65ad09bae41216126d00133523a4">tmp_idx_tgt_</a> (src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#ac6ff65ad09bae41216126d00133523a4">tmp_idx_tgt_</a>), </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a7ebed1d8e2ca08e832c6980b09afbb90">warp_point_</a> (src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a7ebed1d8e2ca08e832c6980b09afbb90">warp_point_</a>)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        {};</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">TransformationEstimationLM</a>&amp;</div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#aee755b2a9ec84236fc588221367d6628">   96</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#aee755b2a9ec84236fc588221367d6628">operator = </a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">TransformationEstimationLM</a> &amp;src)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        {</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#abef97e83c0e0e9b1358d558f5a56d1f7">tmp_src_</a> = src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#abef97e83c0e0e9b1358d558f5a56d1f7">tmp_src_</a>; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af17eaaec23033dc0b94c22275c52164f">tmp_tgt_</a> = src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af17eaaec23033dc0b94c22275c52164f">tmp_tgt_</a>; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af75bf268c9136933175e7e7a09ee33ed">tmp_idx_src_</a> = src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af75bf268c9136933175e7e7a09ee33ed">tmp_idx_src_</a>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#ac6ff65ad09bae41216126d00133523a4">tmp_idx_tgt_</a> = src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#ac6ff65ad09bae41216126d00133523a4">tmp_idx_tgt_</a>; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a7ebed1d8e2ca08e832c6980b09afbb90">warp_point_</a> = src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a7ebed1d8e2ca08e832c6980b09afbb90">warp_point_</a>;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        }</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#aac5823e6f24d84e42a54df3cc0725471">  106</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#aac5823e6f24d84e42a54df3cc0725471">~TransformationEstimationLM</a> () {};</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a291b6c976ad0e887620c3fc6f46d041c">estimateRigidTransformation</a> (</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> &amp;cloud_src,</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> &amp;cloud_tgt,</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;            Matrix4 &amp;transformation_matrix) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a291b6c976ad0e887620c3fc6f46d041c">estimateRigidTransformation</a> (</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> &amp;cloud_src,</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;            <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_src,</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> &amp;cloud_tgt,</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;            Matrix4 &amp;transformation_matrix) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a291b6c976ad0e887620c3fc6f46d041c">estimateRigidTransformation</a> (</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> &amp;cloud_src,</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;            <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_src,</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> &amp;cloud_tgt,</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;            <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_tgt,</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;            Matrix4 &amp;transformation_matrix) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a291b6c976ad0e887620c3fc6f46d041c">estimateRigidTransformation</a> (</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> &amp;cloud_src,</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> &amp;cloud_tgt,</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;            <span class="keyword">const</span> pcl::Correspondences &amp;correspondences,</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;            Matrix4 &amp;transformation_matrix) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a58db943b82754771d85e7781d178b1bf">  165</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a58db943b82754771d85e7781d178b1bf">setWarpFunction</a> (<span class="keyword">const</span> boost::shared_ptr&lt;<a class="code" href="classpcl_1_1registration_1_1_warp_point_rigid.html">WarpPointRigid&lt;PointSource, PointTarget, MatScalar&gt;</a> &gt; &amp;warp_fcn)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        {</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a7ebed1d8e2ca08e832c6980b09afbb90">warp_point_</a> = warp_fcn;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keyword">virtual</span> MatScalar</div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a6e4737852376392b661933a725985209">  182</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a6e4737852376392b661933a725985209">computeDistance</a> (<span class="keyword">const</span> PointSource &amp;p_src, <span class="keyword">const</span> PointTarget &amp;p_tgt)<span class="keyword"> const</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;          Vector4 s (p_src.x, p_src.y, p_src.z, 0);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          Vector4 t (p_tgt.x, p_tgt.y, p_tgt.z, 0);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          <span class="keywordflow">return</span> ((s - t).norm ());</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        }</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <span class="keyword">virtual</span> MatScalar</div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a9d52dbdd5976b96cd986bfbeba8baeee">  199</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a9d52dbdd5976b96cd986bfbeba8baeee">computeDistance</a> (<span class="keyword">const</span> Vector4 &amp;p_src, <span class="keyword">const</span> PointTarget &amp;p_tgt)<span class="keyword"> const</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          Vector4 t (p_tgt.x, p_tgt.y, p_tgt.z, 0);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          <span class="keywordflow">return</span> ((p_src - t).norm ());</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#abef97e83c0e0e9b1358d558f5a56d1f7">  206</a></span>&#160;        <span class="keyword">mutable</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a> *<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#abef97e83c0e0e9b1358d558f5a56d1f7">tmp_src_</a>;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af17eaaec23033dc0b94c22275c52164f">  209</a></span>&#160;        <span class="keyword">mutable</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>  *<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af17eaaec23033dc0b94c22275c52164f">tmp_tgt_</a>;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af75bf268c9136933175e7e7a09ee33ed">  212</a></span>&#160;        <span class="keyword">mutable</span> <span class="keyword">const</span> std::vector&lt;int&gt; *<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af75bf268c9136933175e7e7a09ee33ed">tmp_idx_src_</a>;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#ac6ff65ad09bae41216126d00133523a4">  215</a></span>&#160;        <span class="keyword">mutable</span> <span class="keyword">const</span> std::vector&lt;int&gt; *<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#ac6ff65ad09bae41216126d00133523a4">tmp_idx_tgt_</a>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a7ebed1d8e2ca08e832c6980b09afbb90">  218</a></span>&#160;        boost::shared_ptr&lt;pcl::registration::WarpPointRigid&lt;PointSource, PointTarget, MatScalar&gt; &gt; <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a7ebed1d8e2ca08e832c6980b09afbb90">warp_point_</a>;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        <span class="keyword">template</span>&lt;<span class="keyword">typename</span> _Scalar, <span class="keywordtype">int</span> NX=Eigen::Dynamic, <span class="keywordtype">int</span> NY=Eigen::Dynamic&gt;</div>
<div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html">  225</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html">Functor</a></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        {</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;          <span class="keyword">typedef</span> _Scalar Scalar;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;          <span class="keyword">enum</span> </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;          {</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;            InputsAtCompileTime = NX,</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;            ValuesAtCompileTime = NY</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;          };</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;          <span class="keyword">typedef</span> Eigen::Matrix&lt;_Scalar,InputsAtCompileTime,1&gt; InputType;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;          <span class="keyword">typedef</span> Eigen::Matrix&lt;_Scalar,ValuesAtCompileTime,1&gt; ValueType;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;          <span class="keyword">typedef</span> Eigen::Matrix&lt;_Scalar,ValuesAtCompileTime,InputsAtCompileTime&gt; JacobianType;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html#aa09ee86bac98dce9e98962838d7acf20">  238</a></span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html#aa09ee86bac98dce9e98962838d7acf20">Functor</a> () : m_data_points_ (ValuesAtCompileTime) {}</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html#abe023828faf408444f6a8bfd9668b848">  243</a></span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html#abe023828faf408444f6a8bfd9668b848">Functor</a> (<span class="keywordtype">int</span> m_data_points) : m_data_points_ (m_data_points) {}</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        </div>
<div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html#a8f23bdf34fe3005ee879f5d381d6f8bd">  246</a></span>&#160;          <span class="keyword">virtual</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html#a8f23bdf34fe3005ee879f5d381d6f8bd">~Functor</a> () {}</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          <span class="keywordtype">int</span></div>
<div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html#aea98a1d817413f022613b50ed3d4b1e3">  250</a></span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html#aea98a1d817413f022613b50ed3d4b1e3">values</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (m_data_points_); }</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;          <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;            <span class="keywordtype">int</span> m_data_points_;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        };</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html">  256</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html">OptimizationFunctor</a> : <span class="keyword">public</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html">Functor</a>&lt;MatScalar&gt;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        {</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;          <span class="keyword">using</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html">Functor&lt;MatScalar&gt;::values</a>;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html#a9331930fa5216c5c056554e95f61292b">  264</a></span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html#a9331930fa5216c5c056554e95f61292b">OptimizationFunctor</a> (<span class="keywordtype">int</span> m_data_points, </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">TransformationEstimationLM</a> *estimator) </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;            :  <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html">Functor</a>&lt;MatScalar&gt; (m_data_points), estimator_ (estimator) </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          {}</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html#a68c5feb5a9b16cc15acd5c2e104c8ef2">  272</a></span>&#160;          <span class="keyword">inline</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html#a68c5feb5a9b16cc15acd5c2e104c8ef2">OptimizationFunctor</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html">OptimizationFunctor</a> &amp;src) : </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;            <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html">Functor</a>&lt;MatScalar&gt; (src.m_data_points_), estimator_ ()</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;          {</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;            *<span class="keyword">this</span> = src;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;          }</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;          <span class="keyword">inline</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html">OptimizationFunctor</a>&amp; </div>
<div class="line"><a name="l00282"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html#a5878be8f4abaf3a519bafac01aaa427a">  282</a></span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html#a5878be8f4abaf3a519bafac01aaa427a">operator = </a>(<span class="keyword">const</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html">OptimizationFunctor</a> &amp;src) </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;          { </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;            <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html">Functor&lt;MatScalar&gt;::operator=</a>(src);</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;            estimator_ = src.estimator_; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;            <span class="keywordflow">return</span> (*<span class="keyword">this</span>); </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;          }</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html#a48e9da2497e08564b282a01c98fba89d">  290</a></span>&#160;          <span class="keyword">virtual</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html#a48e9da2497e08564b282a01c98fba89d">~OptimizationFunctor</a> () {}</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;          <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html#a93bc318cfc716598711499c73811b950">operator () </a>(<span class="keyword">const</span> VectorX &amp;x, VectorX &amp;fvec) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;          <span class="keyword">const</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">TransformationEstimationLM&lt;PointSource, PointTarget, MatScalar&gt;</a> *estimator_;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        };</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html">  302</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html">OptimizationFunctorWithIndices</a> : <span class="keyword">public</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html">Functor</a>&lt;MatScalar&gt;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        {</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;          <span class="keyword">using</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html">Functor&lt;MatScalar&gt;::values</a>;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html#a286281bd235e18f4159f71faefd6cc21">  310</a></span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html#a286281bd235e18f4159f71faefd6cc21">OptimizationFunctorWithIndices</a> (<span class="keywordtype">int</span> m_data_points, </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;                                          <span class="keyword">const</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">TransformationEstimationLM</a> *estimator) </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;            : <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html">Functor</a>&lt;MatScalar&gt; (m_data_points), estimator_ (estimator) </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;          {}</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html#a0508927d5336a4bc7e7f3c4df6b8be6b">  318</a></span>&#160;          <span class="keyword">inline</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html#a0508927d5336a4bc7e7f3c4df6b8be6b">OptimizationFunctorWithIndices</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html">OptimizationFunctorWithIndices</a> &amp;src)</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;            : <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html">Functor</a>&lt;MatScalar&gt; (src.m_data_points_), estimator_ ()</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;          {</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;            *<span class="keyword">this</span> = src;</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;          }</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;          <span class="keyword">inline</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html">OptimizationFunctorWithIndices</a>&amp; </div>
<div class="line"><a name="l00328"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html#a8fc5d83781c8367b589d2b47eeab4d39">  328</a></span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html#a8fc5d83781c8367b589d2b47eeab4d39">operator = </a>(<span class="keyword">const</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html">OptimizationFunctorWithIndices</a> &amp;src) </div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;          { </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;            <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html">Functor&lt;MatScalar&gt;::operator=</a>(src);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;            estimator_ = src.estimator_; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;            <span class="keywordflow">return</span> (*<span class="keyword">this</span>); </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;          }</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html#a4a0a471a900541f195c19910a8fbcff0">  336</a></span>&#160;          <span class="keyword">virtual</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html#a4a0a471a900541f195c19910a8fbcff0">~OptimizationFunctorWithIndices</a> () {}</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;          <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html#af0bd7c58dc42d321d965a5143fbcd249">operator () </a>(<span class="keyword">const</span> VectorX &amp;x, VectorX &amp;fvec) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;          <span class="keyword">const</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">TransformationEstimationLM&lt;PointSource, PointTarget, MatScalar&gt;</a> *estimator_;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;        };</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    };</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  }</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;}</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/transformation_estimation_lm.hpp&gt;</span></div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_H_ */</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation</a></div><div class="ttdoc">TransformationEstimation represents the base class for methods for transformation estimation based on...</div><div class="ttdef"><b>Definition:</b> transformation_estimation.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_l_m_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">pcl::registration::TransformationEstimationLM</a></div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_l_m_html_a03a62429f0a21c65f30142da4c0b9c20"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a03a62429f0a21c65f30142da4c0b9c20">pcl::registration::TransformationEstimationLM::TransformationEstimationLM</a></div><div class="ttdeci">TransformationEstimationLM()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.hpp:51</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_l_m_html_a291b6c976ad0e887620c3fc6f46d041c"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a291b6c976ad0e887620c3fc6f46d041c">pcl::registration::TransformationEstimationLM::estimateRigidTransformation</a></div><div class="ttdeci">void estimateRigidTransformation(const pcl::PointCloud&lt; PointSource &gt; &amp;cloud_src, const pcl::PointCloud&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</div><div class="ttdoc">Estimate a rigid rotation transformation between a source and a target point cloud using LM.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.hpp:62</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_l_m_html_a4e6add987a9fbab7f31d392ea812e3f4"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a4e6add987a9fbab7f31d392ea812e3f4">pcl::registration::TransformationEstimationLM::TransformationEstimationLM</a></div><div class="ttdeci">TransformationEstimationLM(const TransformationEstimationLM &amp;src)</div><div class="ttdoc">Copy constructor.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_l_m_html_a58db943b82754771d85e7781d178b1bf"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a58db943b82754771d85e7781d178b1bf">pcl::registration::TransformationEstimationLM::setWarpFunction</a></div><div class="ttdeci">void setWarpFunction(const boost::shared_ptr&lt; WarpPointRigid&lt; PointSource, PointTarget, MatScalar &gt; &gt; &amp;warp_fcn)</div><div class="ttdoc">Set the function we use to warp points. Defaults to rigid 6D warp.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:165</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_l_m_html_a6e4737852376392b661933a725985209"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a6e4737852376392b661933a725985209">pcl::registration::TransformationEstimationLM::computeDistance</a></div><div class="ttdeci">virtual MatScalar computeDistance(const PointSource &amp;p_src, const PointTarget &amp;p_tgt) const</div><div class="ttdoc">Compute the distance between a source point and its corresponding target point</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_l_m_html_a7ebed1d8e2ca08e832c6980b09afbb90"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a7ebed1d8e2ca08e832c6980b09afbb90">pcl::registration::TransformationEstimationLM::warp_point_</a></div><div class="ttdeci">boost::shared_ptr&lt; pcl::registration::WarpPointRigid&lt; PointSource, PointTarget, MatScalar &gt; &gt; warp_point_</div><div class="ttdoc">The parameterized function used to warp the source to the target.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:218</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_l_m_html_a9d52dbdd5976b96cd986bfbeba8baeee"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a9d52dbdd5976b96cd986bfbeba8baeee">pcl::registration::TransformationEstimationLM::computeDistance</a></div><div class="ttdeci">virtual MatScalar computeDistance(const Vector4 &amp;p_src, const PointTarget &amp;p_tgt) const</div><div class="ttdoc">Compute the distance between a source point and its corresponding target point</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:199</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_l_m_html_aac5823e6f24d84e42a54df3cc0725471"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#aac5823e6f24d84e42a54df3cc0725471">pcl::registration::TransformationEstimationLM::~TransformationEstimationLM</a></div><div class="ttdeci">virtual ~TransformationEstimationLM()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_l_m_html_abef97e83c0e0e9b1358d558f5a56d1f7"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#abef97e83c0e0e9b1358d558f5a56d1f7">pcl::registration::TransformationEstimationLM::tmp_src_</a></div><div class="ttdeci">const PointCloudSource * tmp_src_</div><div class="ttdoc">Temporary pointer to the source dataset.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:206</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_l_m_html_ac6ff65ad09bae41216126d00133523a4"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#ac6ff65ad09bae41216126d00133523a4">pcl::registration::TransformationEstimationLM::tmp_idx_tgt_</a></div><div class="ttdeci">const std::vector&lt; int &gt; * tmp_idx_tgt_</div><div class="ttdoc">Temporary pointer to the target dataset indices.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:215</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_l_m_html_aee755b2a9ec84236fc588221367d6628"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#aee755b2a9ec84236fc588221367d6628">pcl::registration::TransformationEstimationLM::operator=</a></div><div class="ttdeci">TransformationEstimationLM &amp; operator=(const TransformationEstimationLM &amp;src)</div><div class="ttdoc">Copy operator.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:96</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_l_m_html_af17eaaec23033dc0b94c22275c52164f"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af17eaaec23033dc0b94c22275c52164f">pcl::registration::TransformationEstimationLM::tmp_tgt_</a></div><div class="ttdeci">const PointCloudTarget * tmp_tgt_</div><div class="ttdoc">Temporary pointer to the target dataset.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:209</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_l_m_html_af75bf268c9136933175e7e7a09ee33ed"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af75bf268c9136933175e7e7a09ee33ed">pcl::registration::TransformationEstimationLM::tmp_idx_src_</a></div><div class="ttdeci">const std::vector&lt; int &gt; * tmp_idx_src_</div><div class="ttdoc">Temporary pointer to the source dataset indices.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_warp_point_rigid_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_warp_point_rigid.html">pcl::registration::WarpPointRigid</a></div><div class="ttdoc">Base warp point class.</div><div class="ttdef"><b>Definition:</b> warp_point_rigid.h:58</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor_html"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html">pcl::registration::TransformationEstimationLM::Functor</a></div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:226</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor_html_a8f23bdf34fe3005ee879f5d381d6f8bd"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html#a8f23bdf34fe3005ee879f5d381d6f8bd">pcl::registration::TransformationEstimationLM::Functor::~Functor</a></div><div class="ttdeci">virtual ~Functor()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:246</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor_html_aa09ee86bac98dce9e98962838d7acf20"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html#aa09ee86bac98dce9e98962838d7acf20">pcl::registration::TransformationEstimationLM::Functor::Functor</a></div><div class="ttdeci">Functor()</div><div class="ttdoc">Empty Construtor.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:238</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor_html_abe023828faf408444f6a8bfd9668b848"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html#abe023828faf408444f6a8bfd9668b848">pcl::registration::TransformationEstimationLM::Functor::Functor</a></div><div class="ttdeci">Functor(int m_data_points)</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:243</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor_html_aea98a1d817413f022613b50ed3d4b1e3"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_functor.html#aea98a1d817413f022613b50ed3d4b1e3">pcl::registration::TransformationEstimationLM::Functor::values</a></div><div class="ttdeci">int values() const</div><div class="ttdoc">Get the number of values.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:250</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_html"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html">pcl::registration::TransformationEstimationLM::OptimizationFunctor</a></div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:257</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_html_a48e9da2497e08564b282a01c98fba89d"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html#a48e9da2497e08564b282a01c98fba89d">pcl::registration::TransformationEstimationLM::OptimizationFunctor::~OptimizationFunctor</a></div><div class="ttdeci">virtual ~OptimizationFunctor()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:290</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_html_a5878be8f4abaf3a519bafac01aaa427a"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html#a5878be8f4abaf3a519bafac01aaa427a">pcl::registration::TransformationEstimationLM::OptimizationFunctor::operator=</a></div><div class="ttdeci">OptimizationFunctor &amp; operator=(const OptimizationFunctor &amp;src)</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:282</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_html_a68c5feb5a9b16cc15acd5c2e104c8ef2"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html#a68c5feb5a9b16cc15acd5c2e104c8ef2">pcl::registration::TransformationEstimationLM::OptimizationFunctor::OptimizationFunctor</a></div><div class="ttdeci">OptimizationFunctor(const OptimizationFunctor &amp;src)</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:272</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_html_a9331930fa5216c5c056554e95f61292b"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html#a9331930fa5216c5c056554e95f61292b">pcl::registration::TransformationEstimationLM::OptimizationFunctor::OptimizationFunctor</a></div><div class="ttdeci">OptimizationFunctor(int m_data_points, const TransformationEstimationLM *estimator)</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:264</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_html_a93bc318cfc716598711499c73811b950"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor.html#a93bc318cfc716598711499c73811b950">pcl::registration::TransformationEstimationLM::OptimizationFunctor::operator()</a></div><div class="ttdeci">int operator()(const VectorX &amp;x, VectorX &amp;fvec) const</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.hpp:217</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices_html"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html">pcl::registration::TransformationEstimationLM::OptimizationFunctorWithIndices</a></div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:303</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices_html_a0508927d5336a4bc7e7f3c4df6b8be6b"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html#a0508927d5336a4bc7e7f3c4df6b8be6b">pcl::registration::TransformationEstimationLM::OptimizationFunctorWithIndices::OptimizationFunctorWithIndices</a></div><div class="ttdeci">OptimizationFunctorWithIndices(const OptimizationFunctorWithIndices &amp;src)</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:318</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices_html_a286281bd235e18f4159f71faefd6cc21"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html#a286281bd235e18f4159f71faefd6cc21">pcl::registration::TransformationEstimationLM::OptimizationFunctorWithIndices::OptimizationFunctorWithIndices</a></div><div class="ttdeci">OptimizationFunctorWithIndices(int m_data_points, const TransformationEstimationLM *estimator)</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:310</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices_html_a4a0a471a900541f195c19910a8fbcff0"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html#a4a0a471a900541f195c19910a8fbcff0">pcl::registration::TransformationEstimationLM::OptimizationFunctorWithIndices::~OptimizationFunctorWithIndices</a></div><div class="ttdeci">virtual ~OptimizationFunctorWithIndices()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:336</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices_html_a8fc5d83781c8367b589d2b47eeab4d39"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html#a8fc5d83781c8367b589d2b47eeab4d39">pcl::registration::TransformationEstimationLM::OptimizationFunctorWithIndices::operator=</a></div><div class="ttdeci">OptimizationFunctorWithIndices &amp; operator=(const OptimizationFunctorWithIndices &amp;src)</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.h:328</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices_html_af0bd7c58dc42d321d965a5143fbcd249"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_l_m_1_1_optimization_functor_with_indices.html#af0bd7c58dc42d321d965a5143fbcd249">pcl::registration::TransformationEstimationLM::OptimizationFunctorWithIndices::operator()</a></div><div class="ttdeci">int operator()(const VectorX &amp;x, VectorX &amp;fvec) const</div><div class="ttdef"><b>Definition:</b> transformation_estimation_lm.hpp:244</div></div>
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